平面グラフ上を移動する目標の位置予測を用いた協調観測
Cooperative Observation of Targets moving over a Planar Graph with Prediction of Positions
平面上のグラフ経路上を移動する目標に対し、UAVが短期的な位置予測を活用して観測数を最大化する改良ヒルクライミング法を提案した論文。
著者: José E. B. Maia, Levi P. Figueredo
分類: cs.AI, cs.RO, eess.SP
原文アブストラクト
Consider a team with two types of agents: targets and observers. Observers are aerial UAVs that observe targets moving on land with their movements restricted to the paths that form a planar graph on the surface. Observers have limited range of vision and targets do not avoid observers. The objective is to maximize the integral of the number of targets observed in the observation interval. Taking advantage of the fact that the future positions of targets in the short term are predictable, we show in this article a modified hill climbing algorithm that surpasses its previous versions in this new setting of the CTO problem.